UnitIndustrialRobot工業(yè)機器人.ppt

1、第13次課,Industrial Robot 工業(yè)機器人,Unit 5 Industrial Robot,1.Introduction 2. Programming a Robot,單詞,工業(yè)機器人,可再編程的,液壓的,氣動的,機電的,工件封裝,圓柱狀的,梯形邏輯圖,industry robot,reprogrammable,hydraulic,pneumatic,electromechanical,cylindrical,ladder logic,開環(huán),open-loop,閉環(huán),closed-loop,Work envelop,單詞,fiction,companionship,anatomy

2、,similarity,evolve,gripper,auxiliary,虛構，想象,陪伴,（生物體）結構,相似之處,演化，演變,輔助的，補充的,夾持器,pendant,joy-stick,操縱桿,懸掛式操縱板，操作面板,key pad,鍵盤,gantry,臺架,potential,潛在的,1.Introduction,Industrial robot are relatively new electromechanical devices that are beginning to change the appearance of modern industry. 工業(yè)機器人是相對來說較新的

3、機電設備，它已經(jīng)開始改變現(xiàn)代工業(yè)的面貌。 Industrial robots are not like the science fiction devices that possess human-like abilities and provide companionship with space travelers. 工業(yè)機器人不像科幻小說中的那個模樣具有人一樣的能力并且能與其它移動物建立友誼。,1.Introduction,Research to enable robots to “see”, “hear”, “touch”, and “l(fā)isten” has been underway

4、 for two decades and is beginning to bear Fruit. However, the current technology of industrial robots is such that most robots contain only an Arm rather than all the anatomy a human possesses. 機器人能夠看見聽到觸覺聽的研究已經(jīng)進行了20多年，現(xiàn)在開始開花結果了。然而，通常所說的工業(yè)機器人技術是是大多數(shù)機器人只包含了一條臂而不是擁有人解剖學的全部結構。,1.Introduction,Current co

5、ntrol only allows these devices to move form point to point in space, performing relatively simple tasks. 通常的控制只允許這些機器人在空間上從點到點的移動，完成相對簡單的工作。,1.Introduction,The Robotics Institute of America defines a robots as “a reprogrammable multifunction manipulator designed to move material, parts, tools, or o

6、ther specialized devices through variable programmed motions for the performance of a variety of tasks.” 1 美國機器人學會定義機器人為“一個可再編程序，多功能的機器手，它通過各種可編程的運行來完成不同的任務，用于搬運原料、零件、刀具、以及專用裝置。如果認為不同類型的加工有不同的作用。,1.Introduction,A NC machining center would be qualified as a robot if one can interpret different types

7、of machining as different functions. Most manufacturing engineers do not consider a NC machining center a robot, even though these machines have a number of similarities. 如果認為不同類型的加工有不同的功能，那么一個數(shù)控加工中心也可以被認為是機器人。大部分制造工程師認為數(shù)控加工中心不是機器人，盡管他們有很多相似之處。,1.Introduction,The power drive and controllers of both

8、NC machines and robots can be quite similar. Robots, like NC machines can be powered by electrical motors, hydraulic systems, or pneumatic systems. 數(shù)控機構和機器人的動力驅(qū)動和控制十分相似。像數(shù)控機構一樣機器人能夠由電機、液壓系統(tǒng)、氣壓系統(tǒng)提供動力。,1.Introduction,Control for either device can be either open-loop or closed-loop. In fact many of the

9、 developments used in robotics have evolved form the NC industry, and many of the manufacturers of robots also manufacture NC machines or NC controllers. 兩種設備都能由開環(huán)控制或閉環(huán)控制。實際上，許多應用于機器人發(fā)展技術由數(shù)控工業(yè)演變過來并且許多機器人制造商也制造數(shù)控機床和數(shù)控控制器。,1.Introduction,A physical robot is normally composed of a main frame ( or arm )

10、 with a wrist and some tooling ( usually some type of gripper ) at the end of the frame. 2 An auxiliary power system may also be included with the robot. 實際的機器人由帶有腕（或稱為臂）的主機身和機器端部的工具（通常是某些的支撐器）組成。機器人也可能有一個輔助動力系統(tǒng)。,1.Introduction,A controller with some type of teach pendant, joy-stick, or key-pad is a

11、lso part of the system. A typical robotic system is shown in Fig 5.1. 機器人系統(tǒng)還包括一個有一些示教板、操作桿、鍵盤。一種典型的機器人系統(tǒng)如圖5、1。,1.Introduction,Robots are usually characterized by the design of the mechanical system. A robot whose main frame consists of three linear axes is called a Cartesian robot. The Cartesian rob

12、ot derives its name from the coordinate system. Travel normally takes place linearly in three-space. 機器人特點通常由機械系統(tǒng)的設計表現(xiàn)，一個主要框架包括三條移動軸的機器人稱為笛卡爾機器人。笛卡爾機器人它的名字來源于笛卡爾坐標系沿三維空間的直線移動。,1.Introduction,Some Cartesian robots are constructed like a gantry to minimize deflection along each of the axes. These robo

13、ts are referred to as gantry robots. 一些笛卡爾機器人由龍門結構構成以便使沿每個軸的偏差最小。這些機器人稱為龍門機器人。,1.Introduction,Fig.5.2 shows examples of Cartesian robots. These robots behave and can be controlled similarly to conventional three-axis NC machines. 3 Gantry structure are generally the most accurate physical structure

14、for robots. 圖5.2展示了笛卡爾機器人，這些機器人的動作控制都相似于傳統(tǒng)的三坐標機床。龍門結構一般來說是最準確的機器人實際結構。,1.Introduction,Gantry robots are commonly used for assembly where tight tolerance and exact location are required. 龍門機器人通常用于公差較小和位置度要求較高的裝配中。,1.Introduction,A cylindrical robot is composed of two liner axes and one rotary axis. T

15、his robot derives its name from the work envelope (the space in which it operates), which is created by moving the axes from limit to limit. 圓柱機器人由兩個移動軸和一個旋轉軸組成，這種機器人的名稱來源自包圍軌跡（它的功作范圍），它由軸移動的極限位置構成。,1.Introduction,Fig.5.3 shows typical cylindrical robots, cylindrical robots are used for a variety of

16、 applications, but most frequently for material-handling operations. 圖5.3展示了典型的圓柱機器人。圓柱機器人有許多應用，最常見的是材料的搬運操作。,2. Programming a Robot,Programming a Robot 給機器人編程 In order for a device to qualify as a robot, it must be easily reprogrammable. 為了使設備具有資格作為機器人，它必須是容易可再編程的。,2. Programming a Robot,Nonprogram

17、mable mechanisms, regardless of their potential flexibility by reassembly or rewiring, do not be qualified as robots4. A class of devices that fit this category are fixed or variable-sequence robots. 不可編程的機構，無論其通過重新裝配或再接線可實現(xiàn)的潛在柔性有多大，也不能算作機器人。許多這類設備是固定的或可變的序列機器人。,2. Programming a Robot,Many of these

18、robots are pneumatically driven. Rather than controlling the robot path, the device is driven to fixed stops or switches via some form of ladder logic. 很多這樣的機器人是由氣壓驅(qū)動的。這種機器人借助某種梯形邏輯圖被驅(qū)動至一些固定的擋塊或行程開關處，而不是控制它的軌跡。,2. Programming a Robot,Although the ladder programming qualifies for the definition of a

19、robot, the switches or stops must normally be physically moved in order to alter the tasks being performed. 5 雖然梯形圖編程可滿足機器人的運動要求，但行程開關和擋塊必須正常的被整體移動，以改變所需執(zhí)行的工作任務。,2. Programming a Robot,Drive actuators or motors are turned “on” or “off” depending on the desired sequence of tasks and switch states. Ro

20、bot operations for this type of system are normally limited to rather simple applications. 動力執(zhí)行器或發(fā)動機打開到“開”或“關”取決于工序的要求和轉換狀態(tài)。機器人對這類系統(tǒng)的操作通常局限于相當簡單的應用。,2. Programming a Robot,Programming of more conventional robots normally takes one of three form: (1) walk-through or pendant teaching, (2) lead-through

21、 teaching, or (3) offline programming. 傳統(tǒng)機器人的程序通常采用以下三個形式之一：（1）操作器或示教板編程（2）導入式程序（3）脫機編程。,2. Programming a Robot,Each robot normally comes with one or more of these types of programming systems. Each has advantages and disadvantages depending on the application being considered. 每個機器人通常具有一個或更多這種程序類型的

22、系統(tǒng)。每種形式的優(yōu)缺點依不同的應用而不同。,2. Programming a Robot,Walk-through or pendant teaching or programming is the most commonly used robot programming procedure. In this type of programming, a pendant that normally contains one or more joysticks is used to move the robot throughout its work envelope. 操作器或示教板編程是最常

23、用的機器人編程方式，這種類型編程，A pendant（懸掛操作板） 通常包括幾個用于使機器人在它工作范圍移動的操作桿。,2. Programming a Robot,At the end of each teach point, the current robot position is saved. As was the case with NC machines, some robots allow the programmer the option of defining the path between points. 在每個工序的終點，機器人的位置被保存。像數(shù)控機床一樣，一些機器人允

24、許編程人員選擇定義兩點間路線。,2. Programming a Robot,Again, these robots are called continuous-path systems. Systems that do not allow the user to specify the path taken are called point-to-point systems. Many continuous-path robots allow the user to define the path to be taken between successive points. That is,

25、 the user may define a straight-line, circular, or joint-interpolated path. 另外，這些機器人被稱為連續(xù)路徑系統(tǒng)。不允許用戶指定路徑的系統(tǒng)稱為點到點系統(tǒng)。許多連續(xù)路徑機器人允許用戶定義在兩個主要點之間連線的路徑。那么，用戶可以定義直線、圓弧的、關節(jié)-插補的路徑。,2. Programming a Robot,In a straight-line path, the robots move between successive points in a straight-line in Cartesian space. Ci

26、rcular moves, as the name implies, take place in circles along one of the major planes6. The path that the robot takes using a joint-interpolation scheme is not always easy to determine. 在直線路徑中，機器人在笛卡爾空間中，在直線連續(xù)端點間移動。顧名思義，圓弧運動就是在某一主平面上沿圓弧運動。機器人以關節(jié)插補方案執(zhí)行的路線很不容易確定。,2. Programming a Robot,In joint inter

27、polation, each of the robot joints is moved at a constant rate so that all the axes start and stop at the same time. 7 For Cartesian robots, straight-line and joint-interpolation schemes produce the same path. For the other types of robot systems, this is not true. 在關節(jié)插補中，機器人的每一關節(jié)都以一恒定速度移動以保證所有的軸同時啟

28、動和停止。對于笛卡爾機器人，直線和結點插補方案產(chǎn)生相同的路徑。對于其他類型機器人系統(tǒng)，這不成立。,2. Programming a Robot,Pendant programming systems normally have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector, wait, pause, check the status of a switch or several switches, return a re

29、quired status to a machine, etc. 操作器編程系統(tǒng)通常提供允許編程人完成輔助操作的命令，如關閉終端，等待，暫停，檢查一種或幾種轉換狀態(tài)，返回全部狀況給機床，等等。,2. Programming a Robot,The programmer walks the robot through the necessary steps required to perform a task, saving each intermediate step along with the auxiliary information. The teach pendant used to

30、 program the Fanuc MI robot is shown in Fig.5.4. 編程人員使機器人走過要求完成一項工作的必要步驟，保存每一中間步驟和輔助的信息。用于給Fanuc M1機器人編程的操作器，如圖5.4所示。,2. Programming a Robot,Lead-through programming is one of the simplest programming procedures used to program a robot. As the name implies, the programmer simply physically moves the

31、 robot through the required sequence of motions. The robots controller records the position and speed as the programmer leads the robot through the operation. 導入式程序是最簡單的機器人程序設計過程之一。顧名思義，編程人只需根據(jù)需要的運動順序進行機器人的實際移動。機器人控制器反饋它的位置并且像編程人一樣引導機器人完成操作。,2. Programming a Robot,The power is normally shut down whi

32、le the programmer is leading the robot through the necessary moves, so that the robot will not will not generate any “glitches” that might injure the operator. 當編程人員負責引導機器人完成必要動作時，動力降低以便機器人不產(chǎn)生傷害操作人員的“小毛病”。,2. Programming a Robot,Although lead-through programming is the easiest programming method lea

33、rn, it does introduce some severe limitations to the robots application. For instance, when the robot is being led through the operation, the operator carries the weigh of the robot. 盡管導入式編程是最容易學的程序語言，但它也反映了一些機器人應用的限制，例如，當機器人正在進行操作時，操作人員搬運機器人。,2. Programming a Robot,The gears, motor and lead screw m

34、ay introduce a false resolver reading, so that when the weight of robot, and perhaps a part , must be supported by the system the actual end-effector position may be significantly different from the position taught to the robot. 齒輪，電動機和絲杠會引入錯誤的運算讀數(shù)值，這樣當機器人的重量，也許是工件的重量必須由系統(tǒng)承擔時，端部執(zhí)行器的 實際位置可能與機器人的訓練位置有

35、很大差異。,2. Programming a Robot,Another problem with this method is that since the position and speed are recorded as the robot is being led through the desired path, a significant amount of data are generated. This data must be stored and later recalled. 這種方式的另一個問題是，由于機器人被指引通過期望的路徑時，機器人的位置和速度會被記錄，產(chǎn)生大量

36、的數(shù)據(jù)信號，這些數(shù)據(jù)必須進行存儲之后調(diào)用。,2. Programming a Robot,Storage and retrieval space and time can cause the programmer problems. Perhaps the major problem associated with lead-through programming is that the human who leads the robot through the process is capable of only finite accuracy and may introduce incon

37、sistencies into the process. 存儲和重新調(diào)用的空間和時間可能會引起匯編器問題 ，也許導入式編程的主要問題是引導機器人完成工藝過程的人僅能夠達到有限的準確度，可能引起工藝過程的不協(xié)調(diào)。,2. Programming a Robot,Human-induced errors and inaccuracies eliminate some of the major advantages of using robots. 人為錯誤和不準確性削弱了使用機器人的優(yōu)點。,2. Programming a Robot,Offline programming for robots i

38、s a relatively new technology that provides several advantages over both lead-through and teach programming. The principles of offline programming are similar to using an offline language such as APT for NC programming. 脫機編程對機器人來說是相對較新的技術，它能夠提供導入式和控制板編程的一些優(yōu)點。脫機編程的規(guī)律與對數(shù)控技術應用脫機語言類似。,2. Programming a R

39、obot,Several languages have been developed at major universities as well in industry throughout the U.S. Examples of these languages include VAL created by Unimation, AR-Basic by American Robot Corp., ARM-BASIC by Microbot, Inc.and AIM. By IBM. 幾種脫機語言已經(jīng)在美國的主要大學和工業(yè)中發(fā)展。這些語言主要有Unimation的VAL,美國機器人協(xié)會的ARM

40、-BASIC, Microbot,Inc的ARM-BASIC和IBM的AMI。,2. Programming a Robot,To illustrate offline programming, AR-Basic will be used. AR-Basic allows the user to : 為解釋說明脫機語言，AR-Basic允許用戶： Define the position of the robot 定義機器人的位置 Control the motion of the robot 控制機器人的運動 Input and output control data 輸入輸出控制數(shù)據(jù),2.

41、Programming a Robot,AR-Basic is an interpretive BASIC system that employs many of the same functions as the familiar BASIC programming language. In AR-Basic, points and tools are defined as a set of primitive data. Points are defined using the convention（約定、協(xié)定）: AR-Basic系統(tǒng)的解釋，他采用的許多相同的功能采用了我們熟悉的basi

42、c程序語言，在In AR-Basic中，點和刀具定義為初始化數(shù)據(jù)。點由以下協(xié)議定義 X,Y,Z,R,P,Y,2. Programming a Robot,Where X,Y, and Z are the Cartesian space occupied by the end-effector, and R, P, and Y are the roll, pitch（節(jié)距） and yaw of the tool. Each of the point definitions can be specified as either absolute or relative point ( again

43、 defined in a similar manner as for NC machines ). X,Y,Z表示由端部執(zhí)行器占據(jù)的笛卡爾空間，R ,P,Y 表示刀具旋轉、進給（節(jié)距）、和刀具偏角。每個點的定義既可以是絕對的也可以是相對的（和數(shù)控機床有相似的規(guī)則）.,2. Programming a Robot,Tool-definition commands are used to define the location of any tooling that might be required for an opperation. The tool defination specifie

44、s the midpoint of the robots faceplate, and consists of the same six data used to describe a point. 刀具定義命令常用于定義操作要求的所有刀具的位置。刀具定義指定機器人面板的中心，包括與用于定義點相同的六個數(shù)據(jù)。,2. Programming a Robot,The robot is set into motion using a set of motion control commands. The motion commands allows the programmer to : Define the type of path to take (straight-line, circular, or joint-coordinated ) 機器人通過運動控制命令執(zhí)行運動，運動命令允許編程人員定義采取的路徑類型（直線，圓弧，關節(jié)-協(xié)調(diào)）。,2. Programming a Robot,Define the end of tooling speed Define the frame of reference Describe the current tool tip 定義刀具的最終速度 定義參考框架 定義刀尖的類別,2. Programming a Robot,AR